introspection *can* be disabled

Otherwise a new task will always setup the publisher,
even if introspection is disabled afterwards.

It is a good idea to keep introspection on, but there should be a way to initialize the C++ classes without ROS communication.

Author: v4hn

core/include/moveit/task_constructor/task.h

@@ -78,7 +78,7 @@ class Task : protected WrapperBase
 	createPlanner(const moveit::core::RobotModelConstPtr& model, const std::string& ns = "move_group",
 	              const std::string& planning_plugin_param_name = "planning_plugin",
 	              const std::string& adapter_plugins_param_name = "request_adapters");
-	Task(const std::string& id = "",
+	Task(const std::string& id = "", bool introspection = true,
 	     ContainerBase::pointer&& container = std::make_unique<SerialContainer>("task pipeline"));
 	Task(Task&& other);  // NOLINT(performance-noexcept-move-constructor)
 	Task& operator=(Task&& other);  // NOLINT(performance-noexcept-move-constructor)

core/src/task.cpp

@@ -104,15 +104,15 @@ const ContainerBase* TaskPrivate::stages() const {
 	return children().empty() ? nullptr : static_cast<ContainerBase*>(children().front().get());
 }
 
-Task::Task(const std::string& id, ContainerBase::pointer&& container)
+Task::Task(const std::string& id, bool introspection, ContainerBase::pointer&& container)
   : WrapperBase(new TaskPrivate(this, id), std::move(container)) {
 	if (!id.empty())
 		stages()->setName(id);
 
 	// monitor state on commandline
 	// addTaskCallback(std::bind(&Task::printState, this, std::ref(std::cout)));
 	// enable introspection by default, but only if ros::init() was called
-	if (ros::isInitialized())
+	if (ros::isInitialized() && introspection)
 		enableIntrospection(true);
 }
 

visualization/motion_planning_tasks/src/local_task_model.cpp

@@ -79,7 +79,7 @@ QModelIndex LocalTaskModel::index(Node* n) const {
 
 LocalTaskModel::LocalTaskModel(ContainerBase::pointer&& container, const planning_scene::PlanningSceneConstPtr& scene,
                                rviz::DisplayContext* display_context, QObject* parent)
-  : BaseTaskModel(scene, display_context, parent), Task("", std::move(container)) {
+  : BaseTaskModel(scene, display_context, parent), Task("", true, std::move(container)) {
 	root_ = this;
 	flags_ |= LOCAL_MODEL;
 }